Conjugate of laminate molded resin part

Abstract

To provide a conjugate of laminate molded resin part that is resistant to bending loads and can be made large.SOLUTION: A conjugate of laminate molded resin part 10 is a rectangular prism with square end faces and is composed of a laminate molded resin part 11 having an inverted cone-shaped joint surface 11a, a laminate molded resin part 12 having a cone-shaped joint surface 12a, and an adhesive layer 13 that fits and joins the inverted cone-shaped joint surface 11a of the laminate molded resin part 11 and the cone-shaped joint surface 12a of the laminate molded resin part 12. A longitudinal direction X perpendicular to a laminate direction Y of the laminate molded resin part 11 and the longitudinal direction X perpendicular to the laminate direction Y of the laminate molded resin part 12 are made continuous with each other.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a laminated molded resin component fitting joint body.

Background Art

[0002] As a camera driving device for observing molten nuclear fuel in a nuclear power plant after a severe accident, an articulated manipulator (robot arm) is required.

[0003] For example, in the first conventional articulated manipulator shown in FIG. 9, a number of links 101-1, 101-2,... (only three are shown) are led from a base 103 and serially connected by horizontal joints 102-1, 102-2,.... Pulleys 104-1, 104-2,... are fixedly axially attached to each of the joints 102-1, 102-2,.... Each of the links 101-1, 101-2,... is driven by driving wires 105-1, 105-2,... wound around the pulleys 104-1, 104-2,... and actuators (motors) (not shown) provided in the base 103 and each of the joints 102-1, 102-2,... (see Fig. 1(a) of Non-Patent Document 1).

[0004] Also, in the articulated manipulator shown in Fig. 10, a number of links 201-1, 201-2, … (only three are shown) are led from the base 203 and serially connected by horizontal joints 202-1, 202-2, …. Pulleys (not shown) are fixedly axially mounted on each of the joints 202-1, 202-2, …. Each of the links 201-1, 201-2, … is driven by a wire (not shown) wound around these pulleys by an actuator (motor) (not shown) provided within the joints 202-1, 202-2, …. In order to compensate for the self-weights of the number of links 201-1, 201-2, …, self-weight compensation pulleys 204-1, 204-2, … are slidably axially mounted on each of the joints 202-1, 202-2, …, and a single self-weight compensation wire 205 is fixed to the tip link and wound around each of the self-weight compensation pulleys 204-1, 204-2, … once, and the end of the self-weight compensation wire 205 is pulled by a counterweight 206 to cancel out the self-weight torque (see Non-Patent Document 2).

[0005] For weight reduction and performance improvement of the links of the articulated manipulator (robot arm) in Figs. 9 and 10, resin parts laminated and formed by a thermal melting deposition method 3D printer using a filament melting method (FFF) as a material have attracted attention. In particular, carbon fiber reinforced resin (CFRP) is superior to metal in terms of specific rigidity, specific strength, and large size. However, the laminated and formed resin parts by a 3D printer cannot be made larger than the size determined by the print head (forming stage) of the thermal melting deposition method 3D printer, and also, when the print head (forming stage) becomes large, the obtained laminated and formed resin parts cause instability in forming due to thermal shrinkage. On the other hand, the links of the articulated manipulator (robot arm) are often larger than the print head (forming stage). In this case, it has been proposed to join two or more laminated and formed resin parts in the longitudinal direction perpendicular to the lamination direction.

[0006] Fig. 11 shows a first laminated and formed resin part fitting joint body proposed usually, (A) is a partial perspective overall perspective view, and (B) is an overall cross-sectional view.

[0007] In FIG. 11, a laminated molded resin part fitting joint 300 joins laminated molded resin parts 301 and 302 having lengths L1 and L2 in the longitudinal direction X with vertical joint surfaces 301a and 302a parallel to the lamination direction Y by an adhesive layer 303 parallel to the lamination direction Y. As a result, the length L in the longitudinal direction X of the laminated molded resin part fitting joint 300 is L = L1 + L2 and can be made large.

[0008] However, in the laminated molded resin part fitting joint 300 of FIG. 11, since the areas of the vertical joint surfaces 301a and 302a of the adhesive layer 303 are small, it is weak against bending loads. Also, cracks easily enter the vertical adhesive layer 303, and when a crack enters, the crack easily extends vertically due to the bending load, so peeling damage easily occurs.

[0009] FIG. 12 shows a second laminated molded resin part fitting joint proposed conventionally, where (A) is a partially perspective overall perspective view and (B) is an overall cross-sectional view.

[0010] In FIG. 12, a laminated molded resin part fitting joint 400 joins laminated molded resin parts 401 and 402 having lengths L1 and L2 in the longitudinal direction X with diagonal joint surfaces 401a and 402a in the lamination direction Y by a diagonal adhesive layer 403 in the lamination direction Y.

[0011] In the laminated molded resin part fitting joint 400 of FIG. 12, since the areas of the diagonal joint surfaces 401a and 402a of the diagonal adhesive layer 403 become large, it is strong against bending loads. Also, cracks hardly enter the diagonal adhesive layer 403, and moreover, since the crack does not directly receive the bending load, it hardly extends and is hardly damaged by peeling.

Prior Art Documents

Non-Patent Documents

[0012]

Non-Patent Document 1

Non-Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0013] However, in the laminated molded resin part fitting joint 400 shown in FIG. 12, due to the inclination of the joint surface of the adhesive layer 403, the length L in the longitudinal direction X perpendicular to the lamination direction Y of the laminated molded resin part fitting joint 400 is, L = L1 + L2 - ΔL However, ΔL is the length in the longitudinal direction X of the adhesive layer 403 (the overlapping length in the longitudinal direction X of the laminated molded resin parts 11 and 12) As a result, there is a problem that a large-sized laminated molded resin part fitting joint 400 cannot be obtained.

Means for Solving the Problems

[0014] In order to solve the above problems, the laminated molded resin part fitting joint according to the present invention includes a first laminated molded resin part having a conical joint surface, a second laminated molded resin part having an inverted conical joint surface, and fitting joint means for fitting and joining the conical joint surface of the first laminated molded resin part and the inverted conical joint surface of the second laminated molded resin part.

Effects of the Invention

[0015] According to the present invention, the laminated molded resin part fitting joint can be enlarged by the conical joint surface of the first laminated molded resin part and the inverted conical joint surface of the second laminated molded resin part. Further, since the joint surface of the fitting joint means is inclined, cracks are less likely to enter, and even if there are cracks in the fitting joint means, the propagation of cracks due to bending load is difficult.

Brief Explanation of the Drawings

[0016]

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Figure 12

Embodiments for Carrying Out the Invention

[0017] FIG. 1 shows a first embodiment of a laminated molded resin part fitting and joining body according to the present invention, (A) is a partially transparent overall perspective view, and (B) is an overall cross-sectional view.

[0018] In FIG. 1, the laminated molded resin part fitting and joining body 10 is a rectangular parallelepiped with a square end face, and includes a laminated molded resin part 11 having an inverted conical joint surface 11a, a laminated molded resin part 12 having a conical joint surface 12a, and an adhesive layer 13 that fits and joins the inverted conical joint surface 11a of the laminated molded resin part 11 and the conical joint surface 12a of the laminated molded resin part 12. In this case, the longitudinal direction X perpendicular to the lamination direction Y of the laminated molded resin part 11 and the longitudinal direction X perpendicular to the lamination direction Y of the laminated molded resin part 12 are made continuous.

[0019] The length L of the laminated molded resin part fitting and joining body 10 in the longitudinal direction X in FIG. 1 is L = L1 + L2 - ΔL where L1 is the length of the laminated molded resin part 11 in the longitudinal direction X L2 is the length of the laminated molded resin part 12 in the longitudinal direction X ΔL is the overlapping length of the laminated molded resin parts 11 and 12 in the longitudinal direction X This is represented by. In this case, the length ΔL of the laminated molded resin parts 11 and 12 in the longitudinal direction X can be made smaller than the length ΔL of the laminated molded resin parts 401 and 402 in the longitudinal direction X in FIG. 12 by the amount of bending of the adhesive layer 13, so the length L of the laminated molded resin part fitting and joining body 10 in the longitudinal direction X can be increased.

[0020] FIG. 2 is a cross-sectional view for explaining the fitting and joining process of the laminated molded resin parts 11 and 12 in FIG. 1.

[0021] First, referring to FIG. 2(A), an adhesive 13a is inserted at the bottom of the inverted conical joint surface 11a of the laminated molded resin part 11.

[0022] Next, referring to FIG. 2(B), the laminated molded resin part 12 is press-fitted toward the inverted conical joint surface 11a of the laminated molded resin part 11.

[0023] Finally, referring to (C) of FIG. 2, when the conical joint surface 12a of the laminated molded resin part 12 approaches the inverted conical joint surface 11a of the laminated molded resin part 11, the adhesive 13a is extruded and spreads uniformly on the conical joint surface 12a. Therefore, the adhesive layer 13 is uniformly formed between the inverted conical joint surface 11a and the conical joint surface 12a. As a result, the adhesive force between the laminated molded resin parts 11 and 12 increases.

[0024] FIG. 3(A) is a graph showing the results of a bending load experiment on the laminated molded resin part fitting joint 10 of FIG. 1. The test piece size was 20 mm × 20 mm × 80 mm, an epoxy-based adhesive was used as the adhesive for the adhesive layer 13, and a potassium titanate fiber-reinforced polyamide resin was used as the resin. As a result, an average bending load value of 3.89 kN for three samples was obtained. When a similar bending load experiment was conducted on the laminated molded resin part without fitting, an average bending load value of 3.24 kN for three samples shown in FIG. 3(B) was obtained. That is, results equal to or better than those without fitting joint were obtained, and the adhesive strength of the adhesive layer 13 was recognized.

[0025] FIG. 4 shows a modified example of the laminated molded resin part fitting joint 10 of FIG. 1, where (A) and (B) are perspective views of the laminated molded resin parts 11 and 12, (C) is a partially transparent overall perspective view, and (D) is an overall cross-sectional view.

[0026] As shown in FIG. 4(A), a male screw structure 11b is provided at the tip of the inverted conical joint surface 11a of the laminated molded resin part 11, and as shown in FIG. 4(B), a female screw structure 12b is provided at the tip of the conical joint surface 12a of the laminated molded resin part 12. As shown in FIGS. 4(C) and 4(D), when the laminated molded resin part 12 is rotated to screw the female screw structure 12b of the laminated molded resin part 12 into the male screw structure 11b of the laminated molded resin part 11, the surface pressure between the inverted conical joint surface 11a of the laminated molded resin part 11 and the conical joint surface 12a of the laminated molded resin part 12 increases, and it is expected that the bonding force of the adhesive layer 13 will increase.

[0027] FIG. 5 shows a second embodiment of the laminated molded resin part fitting joint according to the present invention, where (A) is a partially transparent overall perspective view and (B) is an overall cross-sectional view.

[0028] In FIG. 5, the laminated molded resin part fitting joint 20 is a rectangular parallelepiped with a rectangular end face, and includes a laminated molded resin part 21 having an inverted conical joint surface 21a, a laminated molded resin part 22 having an conical joint surface 22a, and an adhesive layer 23 that fits and joins the inverted conical joint surface 21a of the laminated molded resin part 21 and the conical joint surface 22a of the laminated molded resin part 22. Also in this case, the longitudinal direction X perpendicular to the lamination direction Y of the laminated molded resin part 21 and the longitudinal direction X perpendicular to the lamination direction Y of the laminated molded resin part 22 are made continuous.

[0029] In the laminated molded resin part fitting joint 20 in FIG. 5, since the laminated molded resin part 22 cannot rotate with respect to the laminated molded resin part 21, it is stronger against torsional load in the longitudinal direction compared to the laminated molded resin part fitting joint 10 in FIG. 1.

[0030] FIG. 6 shows a third embodiment of the laminated molded resin part fitting joint according to the present invention, where (A) and (B) are perspective views of the laminated molded resin part, (C) is a partially transparent overall perspective view, and (D) is an overall cross-sectional view.

[0031] As shown in FIG. 6(A), the laminated molded resin part 31 has an inverted quadrangular pyramid-shaped joint surface 31a, and as shown in FIG. 6(B), the laminated molded resin part 32 has a quadrangular pyramid-shaped joint surface 32a. As shown in FIGS. 6(C) and 6(D), when the quadrangular pyramid-shaped joint surface 32a of the laminated molded resin part 32 is inserted into the inverted quadrangular pyramid-shaped joint surface 31a of the laminated molded resin part 31, the surface pressure between the inverted quadrangular pyramid-shaped joint surface 31a of the laminated molded resin part 31 and the quadrangular pyramid-shaped joint surface 32a of the laminated molded resin part 32 increases, and the bonding force of the adhesive layer 33 increases.

[0032] In the laminated molded resin part fitting joint 30 in FIG. 6, since the laminated molded resin part 32 cannot rotate with respect to the laminated molded resin part 31, it is stronger against torsional load in the longitudinal direction compared to the laminated molded resin part fitting joint 10 in FIG. 1.

[0033] Further, the inverted square pyramid-shaped joint surface 31a and the square pyramid-shaped joint surface 32a in FIG. 6 may be other inverted polygonal pyramid-shaped joint surfaces and polygonal pyramid-shaped joint surfaces, and the end faces of the laminated molded resin parts 31 and 32 may be square or rectangular.

[0034] FIG. 7 shows a fourth embodiment of a laminated molded resin part fitting joint body according to the present invention, (A) is a partially transparent front view of the laminated molded resin part, (B) is a front view of the laminated molded resin part, and (C) is an overall perspective view.

[0035] A sensor 41 is sandwiched between the inverted conical joint surface 11a of the laminated molded resin part 11 in FIGS. 1 and 4 shown in FIG. 7(A) (the inverted elliptical conical joint surface 21a of the laminated molded resin part 21 in FIG. 5 or the inverted square pyramid-shaped joint surface 31a of the laminated molded resin part 31 in FIG. 6) and the conical joint surface 12a of the laminated molded resin part 12 in FIGS. 1 and 4 shown in FIG. 7(B) (the elliptical conical joint surface 22a of the laminated molded resin part 22 in FIG. 5 or the square pyramid-shaped joint surface 32a of the laminated molded resin part 32 in FIG. 6), and as shown in FIG. 7(C), the sensor 41 is incorporated into the laminated molded resin part fitting joint body 40. At that time, wirings 42a and 42b are provided from the sensor 41. Thereby, when used as a link of a multi-joint manipulator (robot arm), the joint part can be particularly monitored by the sensor 41. Incidentally, examples of the sensor 41 include a strain sensor, a temperature sensor, an acceleration sensor (vibration sensor), an angular velocity sensor, and a force sensor.

[0036] Furthermore, the strain sensor as the sensor 41 can also be provided on the joint surfaces 11a (21a, 31a) and 12a (22a, 32a) of the laminated molded resin parts 11 (21, 31) and 12 (22, 32). For example, the laminated molded resin parts 11 (21, 31) and 12 (22, 32) are made of short carbon fiber reinforced thermoplastic resin, and one or both of the joint surfaces 11a (21a, 31a) and 12a (22a, 32a) of the laminated molded resin parts 11 (21, 31) and 12 (22, 32) are locally irradiated with laser light to heat and evaporate the thermoplastic resin. As a result, a low-resistance region pattern with a high carbon fiber content ratio that acts as a strain sensor can be formed on one or both of the joint surfaces 11a (21a, 31a) and 12a (22a, 32a). By connecting the wirings 41a and 41b to this low-resistance region pattern, a strain sensor can be realized.

[0037] FIG. 8 is an overall cross-sectional view showing a fifth embodiment of the laminated molded resin part fitting joint according to the present invention.

[0038] In FIG. 8, in the laminated molded resin part fitting joint 50, a plurality of laminated molded resin parts 51' and a plurality of laminated molded resin parts 52' are alternately arranged, and these are fittingly joined by an adhesive layer 53'. In this case, the reverse conical joint surface 51'a of the laminated molded resin part 51' faces the laminated molded resin part 52', the conical joint surface 52'a of the laminated molded resin part 52' faces the laminated molded resin part 51', and the reverse conical joint surface 51'a and the conical joint surface 52'a are joined by the adhesive layer 53'. In this way, a long laminated molded resin part fitting joint 50 in the longitudinal direction X can be realized by continuously arranging three or more laminated molded resin parts 51' and 52' in the longitudinal direction X and joining them by the adhesive layer 53'.

[0039] In the above-described embodiment, the adhesive layers 13, 23, 33, and 53' are used as the fitting joining means, but a melting joint portion between the conical joint portion of the first laminated molded resin part and the reverse conical joint portion of the second laminated molded resin part may also be used.

[0040] The fusion joint is formed by the following method. In this case, for example, the first and second laminated molding resin parts are constituted by using the first and second short carbon fiber reinforced thermoplastic resin parts. 1) Using a laser beam, xenon light, a solvent of a thermoplastic resin, etc., move or evaporate a part of the thermoplastic resin on the conical joint surface of the first short carbon fiber reinforced thermoplastic resin part and / or the reverse conical joint surface of the second short carbon fiber reinforced thermoplastic resin part. Thereby, increase the carbon content of all or part of the conical joint surface and / or the reverse conical joint surface to form a low resistance region. 2) Provide two electrodes on the conical joint surface and / or the reverse conical joint surface of the low resistance region. 3) Fit the conical joint surface and the reverse conical joint surface, pass an electric current between the two electrodes, and melt and bond them with Joule heat. It was recognized that the bonding strength of the fusion joint is equal to or higher than the bonding strength of the adhesive layer.

[0041] In addition, the laminated molding resin part in the above-described embodiment may be molded by a method other than a 3D printer, for example, an injection molding method, a compression molding method, or the like.

[0042] Note that the present invention can be applied to any change within the obvious scope of the above-described embodiment.

Industrial Applicability

[0043] The laminated molding resin part fitting joint body according to the present invention can be used not only for a multi-joint manipulator (robot arm) but also for general construction structural members.

Explanation of Signs

[0044] 10: Laminated molding resin part fitting joint body 11, 12: Laminated molding resin parts 11a: Reverse conical joint surface 12a: Conical joint surface 11b: Female screw structure 12b: Male screw structure 13: Adhesive layer 13a: Adhesive 20: Laminated molding resin part fitting joint body 21, 22: Stacked molding resin parts 21a: Inverse conical joint surface 22a: Conical joint surface 23: Adhesive layer 30: Stacked molding resin parts fitting joint body 31, 32: Stacked molding resin parts 31a: Inverse square pyramid - shaped joint surface 32a: Square pyramid - shaped joint surface 33: Adhesive layer 40: Stacked molding resin parts fitting joint body 41: Sensor 41a, 41b: Wiring 50: Stacked molding resin parts fitting joint body 51’, 52’: Stacked molding resin parts 53’: Adhesive layer 300: Stacked molding resin parts fitting joint body 301, 302: Stacked molding resin parts 301a, 302a: Vertical joint surface 303: Adhesive layer 400: Stacked molding resin parts fitting joint body 401, 402: Stacked molding resin parts 401a, 402a: Oblique joint surface 403: Adhesive layer

Claims

1. a first laminated molding resin part having a conical joint surface; a second laminated molding resin part having an inverted conical joint surface; and fitting and joining means for fitting and joining the conical joint surface of the first laminated molding resin part and the inverted conical joint surface of the second laminated molding resin part. A laminated molding resin part fitting and joining body comprising the above.

2. The laminated molding resin part fitting and joining body according to claim 1, wherein the longitudinal direction perpendicular to the lamination direction of the first laminated molding resin part and the longitudinal direction perpendicular to the lamination direction of the second laminated molding resin part are continuous.

3. The laminated molding resin part fitting and joining body according to claim 1, wherein the fitting and joining means is an adhesive layer.

4. The laminated molding resin part fitting and joining body according to claim 1, wherein the fitting and joining means is a fusion joint portion between the conical joint surface of the first laminated molding resin part and the inverted conical joint surface of the second laminated molding resin part.

5. The conical joint surface is a conical joint surface, and the inverted conical joint surface is an inverted conical joint surface. The laminated molding resin part fitting and joining body according to claim 1.

6. The tip of the conical joint surface has a male screw structure or a female screw structure, and the tip of the inverted conical joint surface has a male screw structure or a female screw structure that fits into the male screw structure or the female screw structure. The laminated molding resin part fitting and joining body according to claim 5.

7. The conical joint surface is an elliptical conical joint surface, and the inverted conical joint surface is an inverted elliptical conical joint surface. The laminated molding resin part fitting and joining body according to claim 1.

8. The conical joint surface is a polygonal conical joint surface, and the inverted conical joint surface is an inverted polygonal conical joint surface. The laminated molding resin part fitting and joining body according to claim 1.

9. The polygonal conical joint surface is a quadrangular conical joint surface, and the inverted polygonal conical joint surface is an inverted quadrangular conical joint surface. The laminated molding resin part fitting and joining body according to claim 8.

10. The laminated molding resin part fitting and joining body according to claim 1, further comprising a sensor between the conical joint surface and the inverted conical joint surface or on the conical joint surface and / or the inverted conical joint surface.

11. The laminated molding resin part fitting and joining body according to claim 10, wherein the sensor is a strain sensor, a temperature sensor, an acceleration sensor, an angular velocity sensor, or a force sensor.

12. The laminated molding resin part fitting and joining body according to claim 1, wherein each of the first and second laminated molding resin parts is a laminated molding resin part formed by a thermal melting lamination method 3D printer.

13. A laminated molding resin part fitting and joining body for fitting and joining three or more laminated molding resin parts, The first laminated molding resin component among the three or more laminated molding resin components has a conical joint surface or an inverted conical joint surface. The second laminated molding resin component adjacent to the first laminated molding resin component among the three or more laminated molding resin components has an inverted conical joint surface or a conical joint surface for fitting and joining with the conical joint surface or the inverted conical joint surface of the first laminated molding resin component. Fitting and joining means for fitting and joining the conical joint surface or the inverted conical joint surface of the first laminated molding resin component and the inverted conical joint surface or the conical joint surface of the second laminated molding resin component A laminated molding resin component fitting and joining body comprising the same.

14. The laminated molding resin component fitting and joining body according to claim 13, wherein the longitudinal direction perpendicular to the lamination direction of the plurality of laminated molding resin components is continuous.

15. The laminated molding resin component fitting and joining body according to claim 13, wherein the fitting and joining means is an adhesive layer.

16. The laminated molding resin component fitting and joining body according to claim 13, wherein the fitting and joining means is a fusion joint portion between the conical joint surface or the inverted conical joint surface of the first laminated molding resin component and the inverted conical joint surface or the conical joint surface of the second laminated molding resin component.

17. The conical joint surface is a conical joint surface. The inverted conical joint surface is an inverted conical joint surface. The laminated molding resin component fitting and joining body according to claim 13.

18. The tip of the conical joint surface has a male thread structure or a female thread structure. The tip of the inverted conical joint surface has a female thread structure or a male thread structure that fits into the male thread structure or the female thread structure. The laminated molding resin component fitting and joining body according to claim 17.

19. The conical joint surface is an elliptical conical joint surface. The inverted conical joint surface is an inverted elliptical conical joint surface. The laminated molding resin component fitting and joining body according to claim 13.

20. The conical joint surface is a polygonal conical joint surface. The inverted conical joint surface is an inverted polygonal conical joint surface. The laminated molding resin component fitting and joining body according to claim 13.

21. The polygonal conical joint surface is a quadrangular conical joint surface. The inverted polygonal conical joint surface is an inverted quadrangular conical joint surface. The laminated molding resin component fitting and joining body according to claim 20.

22. The laminated molding resin component fitting and joining body according to claim 13, comprising a sensor between the conical joint surface and the inverted conical joint surface or on the conical joint surface and / or the inverted conical joint surface.

23. The sensor according to claim 22 is a strain sensor, a temperature sensor, an acceleration sensor, an angular velocity sensor, or a force sensor. The laminated molding resin component fitting and joining body.

24. The laminated molded resin component fitting and joining body according to claim 13, wherein each of the laminated molded resin components is a laminated molded resin component formed by a hot melt lamination type 3D printer.

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